TW202105110A - Traveling vehicle system and method for controlling traveling vehicles - Google Patents

Abstract

To prevent interference between traveling vehicles by exclusive control and to avoid, as much as possible, obstruction of operation of another traveling vehicle by exclusive control. This traveling vehicle system is provided with: a plurality of traveling vehicles; and a controller that is capable of communicating with the plurality of traveling vehicles and that controls the plurality of traveling vehicles. A plurality of blocking sections to be under exclusive control for, when the blocking sections are occupied by one of the traveling vehicles, prohibiting another traveling vehicle from moving thereinto, are designated for a traveling region of the traveling vehicles. By designating, among sequential operations to be executed by the traveling vehicle, a period from when the traveling vehicle starts traveling to when the traveling vehicle stops before execution of a predetermined operation included in the sequential operations, the controller determines whether or not to give the traveling vehicle an occupation permission for the blocking sections to be occupied in order for the traveling vehicle to execute the operations.

Description

Moving vehicle system and method for controlling moving vehicle

The present invention relates to a mobile vehicle system and a control method of the mobile vehicle.

In manufacturing factories such as semiconductor manufacturing plants, for example, transfer containers (FOUPs (front opening unified pod), front opening unified pod) and photomask Pod (transportation boxes) that contain semiconductor wafers or photomasks can be transported by moving vehicles. Box)) and other items of the cart system. As this traveling vehicle system, a system including a plurality of traveling vehicles traveling on a rail and a controller for controlling the plurality of traveling vehicles is known. A plurality of moving vehicles respectively send their current position and other information to the controller through wireless communication or the like. According to the location of the moving vehicle, the controller determines the moving vehicle responsible for the transportation of the goods and sends the transportation instruction.

The track used in the above-mentioned moving vehicle system usually has a plurality of intersections. At the intersection, it is stipulated that an exclusive control zone that does not allow other moving vehicles to enter when occupied by any one of a plurality of moving vehicles is specified. The moving vehicle is controlled in the following way: when the controller obtains the permission to occupy the blocked area, although it can occupy and pass the blocked area that has been granted the permission to occupy, it will not enter when the permission to occupy the blocked area is not obtained from the controller. Blocked area without permission to occupy.

As the above-mentioned exclusive control, the following configuration is known: the controller, by confirming the moving path of the moving vehicle, grants permission to the moving vehicle to occupy the allowable section of the plurality of blockade sections through which the moving vehicle should pass (for example, , Refer to Patent Document 1) described later. [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 63-163608

(The problem to be solved by the invention)

In the structure of Patent Document 1, the exclusive control permitted by the partition of the permissible blockade of all blockades through which the moving vehicle should pass is performed. Here, although there is a possibility that the moving vehicle may temporarily stop and perform a predetermined action before the moving vehicle completely passes through the permitted blockade zone, there is a problem as follows: If the vehicle responds earlier than the blockade zone where the predetermined action is performed If the passing blockade area is permitted in advance, the blockade area will be unnecessarily occupied while the moving vehicle is performing a predetermined movement, and the movement of other moving vehicles will be hindered.

The purpose of the present invention is to prevent the interference of moving vehicles with each other by exclusive control, while avoiding obstacles to the actions of other moving vehicles as much as possible through exclusive control. (Technical means to solve the problem)

The mobile vehicle system of the aspect of the present invention is provided with: a plurality of mobile vehicles; and a controller, which can communicate with the plurality of mobile vehicles to control the plurality of mobile vehicles; a plurality of mobile vehicles are specified in the moving area of the mobile vehicle. When any one of a plurality of moving vehicles is occupied, it does not allow other moving vehicles to enter an exclusive-controlled blockade zone; and the above-mentioned moving vehicles are controlled in the following way: when the controller obtains permission to occupy the blockade zone Although it is possible to occupy and operate in the blocked area that has been authorized to occupy, when the occupation permission is not obtained from the controller, it will not act in the blocked area without the permission to occupy; in which, the controller determines whether to control the moving vehicle The determination of granting permission to occupy, the permission to occupy is to separate a series of actions to be performed by the moving vehicle from the beginning of the moving vehicle to the stop before the predetermined action included in the sequence of actions is performed. Occupy permission for the blockade area that should be occupied by the action.

In addition, it can also be configured as follows: in a series of actions that the moving vehicle should perform, the controller is executed to move to a predetermined stop before the transfer operation of the article to the moving vehicle is about to be carried out. After the exclusive control of the blockade zone that should be occupied by the stop position, the exclusive control of the blockade zone that should be occupied for the transfer action performed by the moving vehicle is executed. In addition, it can also be configured as follows: the moving vehicle will require the first occupancy permission requirement for the blockade area that should be occupied in order to move to the predetermined stop position, and the first occupancy permission requirement for the blockade area that should be occupied for the transfer operation. 2 The occupancy permission request is sent to the controller as two different requirements. After the controller executes the exclusive control for the first occupancy permission request, the controller executes the exclusive control for the second occupancy permission request. In addition, it may also have the following configuration: the predetermined stop position is the blockade zone where the transfer action is performed, or the blockade zone adjacent to the blockade zone where the transfer action is performed.

In addition, it can also be configured as follows: the controller executes a series of actions to be performed by the moving vehicle, after performing exclusive control of the blockade area that the moving vehicle should occupy in order to move to the position where the direction change is stopped, and then execute The exclusive control of the blockade area that should be occupied by the moving vehicle after the direction change. In addition, it can also have the following composition: the moving vehicle will be required to occupy the third occupation permission requirement for the blockade area that should be occupied when it stops at the position where the direction change is to be performed, and the moving vehicle should be occupied in order to move after the direction change. The fourth occupancy permission request of the blockade is sent to the controller as two different requests. After the controller executes the exclusive control of the third occupancy permission request, the controller executes the exclusive control of the fourth occupancy permission request.

In addition, it may also be configured as follows: in a series of actions that the moving vehicle should perform, the controller executes exclusive control of the blockade area that the moving vehicle should occupy in order to move to the position where it stops for charging. The exclusive control of the blockade area that the moving vehicle should occupy when it needs to move after being charged. In addition, it can also be configured as follows: the moving vehicle will require the fifth occupation permission requirement for the blockade area that should be occupied in order to move to the position where it is stopped for charging, and the blockade area that should be occupied in order to move after charging. The sixth occupation permission request is sent to the controller as two different requirements. After the controller executes the exclusive control for the fifth occupation permission request, the controller executes the exclusive control for the sixth occupation permission request.

Alternatively, it may also have a configuration in which a grid-like track is provided, and the grid-like track has a plurality of first tracks extending in a first direction, and a plurality of tracks extending in a second direction different from the first direction The second track, and a plurality of first tracks and a plurality of second tracks form a plurality of grids, a plurality of traveling vehicles move along the grid-shaped track on the first track or the second track, and the blockade is for Each grid cell that is one square in the grid-shaped track is set separately.

The mobile vehicle control method of the aspect of the present invention is a mobile vehicle control method in a mobile vehicle system, and the mobile vehicle system is provided with: a plurality of mobile vehicles; and a controller, which can communicate with the plurality of mobile vehicles. Control a plurality of moving vehicles; in the moving area of a moving vehicle, it is stipulated that there are a plurality of blocked areas that are exclusively controlled by any one of the plural moving vehicles to prevent other moving vehicles from entering; and the above-mentioned moving vehicles are It is controlled in the following way: in the case of obtaining permission to occupy the blockade area from the controller, although it can occupy the blockade area that has been granted permission to occupy and perform actions, it will not be in the state where the permission to occupy the blockage area cannot be obtained from the controller. The operation is performed in the blockade area where the occupation permission is obtained; wherein, the control method of such a moving vehicle includes the following: the controller determines whether to grant an occupation permission to the moving vehicle, and the occupation permission is for a series of actions that should be performed on the moving vehicle, The moving vehicle is divided from the beginning of the moving vehicle to the stop before the predetermined action included in the series of actions is executed, and the occupancy permission of the blockade area that should be occupied in order to perform the action is permitted. (Compared to the effect of the previous technology)

According to the above-mentioned aspect of the moving vehicle system and the moving vehicle control method, in a series of actions that the moving vehicle should perform, the exclusive control will be performed as a segment until it stops before the predetermined action is performed, which can be compared with A method of exclusive control of all sections that a moving vehicle should pass through, shortening the blockade section that will be temporarily occupied. In other words, it is possible to prevent interference with other moving vehicles by means of exclusive control, while avoiding obstacles to the actions of other moving vehicles as much as possible.

In addition, the controller should perform a series of actions in the moving vehicle, before executing the blockade that should be occupied in order to move to a stop at a predetermined stop position before the transfer action of the article relative to the moving vehicle is about to be carried out. After the exclusive control of the section is performed, the exclusive control is performed on the blockade that should be occupied by the moving vehicle for the transfer action, and this configuration can be compared to the blockade for moving to the predetermined stop position and the transfer action The blockade zone is executed together with an exclusive control structure, shortening the blockade zone that will be temporarily occupied. In addition, the moving vehicle will be used as two requirements for the first occupation permission request for the blockade area that should be occupied in order to move to a stop at the predetermined stop position, and the second occupation permission request for the blockade area that should be occupied for the transfer operation. A different request is sent to the controller. After the controller executes the exclusive control for the first occupancy permission request, it executes the exclusive control for the second occupancy permission request. In such a configuration, the moving vehicle side sends the first , The second occupies the permission requirements, so the load can be distributed. In addition, the predetermined stop position is the blockade zone where the transfer action is executed, or the block zone adjacent to the blockade zone where the transfer action is executed, and in such a configuration, the moving vehicle is moved to a position close to the execution position of the transfer action. Therefore, it is possible to shorten the blockade area occupied for the transfer operation.

In addition, the controller executes a series of actions to be performed by the moving vehicle, after performing exclusive control of the blockade area that the moving vehicle should occupy in order to move to the position where the direction change is stopped, and then executes the direction change for the moving vehicle. The exclusive control of the blockade area that should be occupied after the migration is performed, and such a configuration can be compared with the blockade area for moving to stop at the position where the direction change is to be performed and the blockade area for moving after the direction change. The structure of exclusive control is implemented concurrently to shorten the blockade area that will be temporarily occupied. In addition, the moving vehicle will require the third occupation permission requirement for the blockade area to be occupied in order to move to the position where the direction change is to be performed, and the fourth occupation permission for the blockade area to be occupied in order to move after the direction change. The request is sent to the controller as two different requests. After the controller executes the exclusive control for the third occupying permission request, it executes the exclusive control for the fourth occupying permission request, and this configuration is because the moving vehicle sends the third , No. 4 occupies permit requirements, so the load can be distributed.

In addition, the controller executes a series of actions when the moving vehicle is to perform exclusive control of the blockade area that the moving vehicle should occupy in order to move to the position where it stops for charging. The exclusive control of the blockade zone that should be occupied for migration can be compared to the blockade zone for moving to a stop at the position where charging is to be performed and the blockade zone for migration after charging to perform exclusive control. The structure shortens the blockade area that will be temporarily occupied. In addition, the moving vehicle will require the fifth occupation permission requirement for the blockade area that should be occupied in order to move to the position where charging is stopped, and the sixth occupation permission request for the blockade area that should be occupied in order to move after charging, as Two different requests are sent to the controller. After the controller executes the exclusive control for the fifth occupancy permission request, it executes the exclusive control for the sixth occupancy permission request. In the state of determining whether permission is granted and granting permission, since the moving vehicle side will determine the time point of sending the 5th and 6th occupancy permission request based on its own position, the load can be distributed.

Furthermore, a grid-like track is provided, and the grid-like track has a plurality of first tracks extending along a first direction and a plurality of second tracks extending along a second direction different from the first direction, and by A plurality of first rails and a plurality of second rails form a plurality of grids, and a plurality of traveling vehicles move along the grid-shaped rails on the first or second rails, and the blockade section is for each of the grid-shaped rails. Each grid unit of one grid is set. In this configuration, since each grid unit of the grid-shaped track is an intersection, no matter which grid unit the moving vehicle stops at, it will become an obstacle to the passage of other moving vehicles. Therefore, in the case of a grid-shaped rail, compared to the configuration of a traveling vehicle system having a rail other than the grid-shaped rail, although the traveling of other traveling vehicles is hindered and the traveling efficiency is reduced, the above-mentioned structure can suppress the above-mentioned Reduced migration efficiency.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, this invention is not limited to the form demonstrated below. In addition, in the drawings, in order to explain the embodiment, a part of it is enlarged or emphasized and described, etc., and the reduction ratio is appropriately changed and expressed. In the following figures, the XYZ rectangular coordinate system is used to illustrate the directions in the figure. In this XYZ rectangular coordinate system, the plane parallel to the horizontal plane is set as the XY plane. A direction along the XY plane is denoted as the X direction, and a direction orthogonal to the X direction is denoted as the Y direction. Furthermore, the traveling direction of the traveling vehicle V can be changed from the state shown in the following figure to other directions. For example, there are cases where traveling along a curved direction. In addition, the direction perpendicular to the XY plane is indicated as the Z direction. The X direction, Y direction, and Z direction are respectively described with the direction indicated by the arrow in the figure as the + direction, and the direction opposite to the direction indicated by the arrow as the-direction. In addition, the direction of rotation around the vertical axis or the Z axis is denoted as the θZ direction.

[First Embodiment] Fig. 1 is a perspective view showing an example of the traveling vehicle system SYS of the first embodiment. FIG. 2 is a perspective view of the traveling vehicle V used in the traveling vehicle system SYS shown in FIG. 1. Fig. 3 is a side view showing an example of the traveling vehicle V. Fig. 4 is a block diagram showing an example of the moving vehicle V, the upper controller HC, and the lockout controller BC.

The traveling vehicle system SYS is, for example, a system that uses the traveling vehicle V to transport the article M in a clean room of a semiconductor manufacturing plant. The traveling vehicle system SYS is equipped with a first traveling vehicle V1 to an n-th traveling vehicle Vn (hereinafter, there are also situations collectively referred to as traveling vehicle V) (refer to FIG. 4), and a controller (upper control) that controls a plurality of traveling vehicles V HC, lockout controller BC). In this embodiment, an example in which the traveling vehicle V is an elevated traveling vehicle will be described. The traveling vehicle V moves along the track R of the traveling vehicle system SYS. The track R is the moving area of the moving vehicle V. The traveling vehicle V moves along the track R of the traveling vehicle system SYS, and transports items M such as the FOUP for storing semiconductor wafers or the mask Pod for storing photomasks. Since the transfer vehicle V transports the article M, it may be called a transfer vehicle.

The rail R is laid on the ceiling or near the ceiling of a building such as a clean room. The rail R is installed adjacent to a processing device (not shown), a storage warehouse (automatic warehouse, not shown), a buffer zone (not shown), and the like. The above-mentioned processing device is, for example, an exposure device, a coating and developing machine, a film forming device, an etching device, etc., and various processing is performed on the semiconductor wafer in the container to be transported by the traveling vehicle V. The above-mentioned storage warehouse stores the articles M to be transported by the moving vehicle V. The above-mentioned buffer zone temporarily stores the articles M to be conveyed by the moving vehicle V.

Orbit R is an example of the shape of the orbit. The track R is a lattice track having a plurality of first tracks R1, a plurality of second tracks R2, and a plurality of intersections R3. Hereinafter, the track R is referred to as a lattice track R. The plurality of first tracks R1 respectively extend in the X direction (first direction DR1). The plural second tracks R2 respectively extend in the Y direction (the second direction DR2). The grid-shaped track R is formed in a grid shape in a plan view by a plurality of first tracks R1 and a plurality of second tracks R2. The grid-shaped track R includes a plurality of first tracks R1 and a plurality of second tracks R2 to form a plurality of squares. In this embodiment, although the first direction DR1 and the second direction DR2 are orthogonal, and the plurality of first tracks R1 and the plurality of second tracks R2 are arranged along mutually orthogonal directions, they are arranged so as not to mutually Cross directly. The intersection R3 is arranged at a portion where the first track R1 and the second track R2 intersect. The intersection R3 is adjacent to the first track R1 in the first direction DR1 and adjacent to the second track R2 in the second direction DR2. The intersection R3 is a connecting rail that connects the first rail R1 and the second rail R2, connects the first rails R1 to each other, and connects the second rails R2 to each other. The intersection R3 is when the traveling vehicle V travels along the first rail R1, when the traveling vehicle V travels along the second rail R2, when the traveling vehicle V moves from the first rail R1 to the second rail R2 or from the second rail R2 The track that will be used in any case when moving toward the first track R1. The grid-shaped track R is arranged in a direction orthogonal to the plurality of first tracks R1 and the plurality of second tracks R2, and thus becomes a state in which a plurality of grid cells C (cells) are adjacent to each other when viewed from above. One grid cell C is equivalent to one square, which is composed of two first tracks R1 adjacent in the second direction DR2 and two second tracks adjacent in the first direction DR1 when viewed from above. The part surrounded by R2. Furthermore, in FIG. 1, a part of the grid-like track R is shown, and the grid-like track R is continuously formed in the first direction DR1 (X direction) and the second direction DR2 (Y direction) from the configuration shown in the figure. The same composition.

The first rail R1, the second rail R2, and the intersection R3 are suspended from a ceiling (not shown) by a suspension member H (refer to FIG. 1). The suspension member H has a first part H1 for suspending the first rail R1, a second part H2 for suspending the second rail R2, and a third part H3 for suspending the intersection R3. The first part H1 and the second part H2 are respectively provided at two locations sandwiching the third part H3.

The first rail R1, the second rail R2, and the intersection R3 respectively have traveling surfaces R1a, R2a, and R3a on which traveling wheels 21 described later travel by the traveling vehicle V. A gap D is formed between the first rail R1 and the intersection R3, and between the second rail R2 and the intersection R3, respectively. The gap D is used as a part of the traveling vehicle V when the traveling vehicle V moves on the first rail R1 and traverses the second rail R2, or when traveling on the second rail R2 and traverses the first rail R1. The part through which the connecting portion 30 passes. Therefore, the gap D is set to a width that allows the connecting portion 30 to pass through. The first rail R1, the second rail R2, and the intersection R3 are provided along the same or substantially the same horizontal plane. In this embodiment, the moving surfaces R1a, R2a, and R3a of the first rail R1, the second rail R2, and the intersection R3 are arranged on the same or substantially the same horizontal surface.

The traveling vehicle system SYS is equipped with a communication system (not shown). The communication system can be used for communication between the moving vehicle V, the upper controller HC, and the lockout controller BC. The traveling vehicle V, the upper controller HC, and the lockout controller BC are respectively connected via a communication system so as to be communicable.

In the moving area of the moving vehicle V, a plurality of blockade sections B (refer to FIG. 1 etc.) are provided for exclusive control that does not allow other moving vehicles V to enter when occupied by any one of the moving vehicles V. In the present embodiment, the blockage interval B is divided for each grid cell C. When the moving vehicle V is controlled to obtain permission to occupy the blocked section B from the lockdown controller BC, although it can occupy the blocked section B that has been granted the permission to occupy and perform operations, it fails to obtain the permission to occupy the blocked section B from the lockdown controller BC In this case, the operation is not performed in the blockade area B where the permission to occupy is not obtained. The exclusive control can be used to prevent the interference of the moving vehicles V with each other. The exclusive control will be further explained later.

The structure of the moving vehicle V will be explained. As shown in FIGS. 2 to 4, the traveling vehicle V has a main body 10, a traveling section 20, a connecting section 30, and a control section 50 (refer to FIGS. 3 and 4).

The main body 10 is arranged below the grid-shaped rail R (-Z side). The main body 10 is formed, for example, in a rectangular shape in a plan view. The main body 10 is formed in a size that does not exceed one grid cell C (refer to FIG. 1) in the grid-shaped rail R when viewed from above. Therefore, it is possible to ensure a space for meeting with other traveling vehicles V traveling on the adjacent first rail R1 or second rail R2. The main body 10 includes an upper unit 17 and a transfer device 18. The upper unit 17 is suspended from the traveling part 20 via the connecting part 30. The upper unit 17 has, for example, a rectangular shape in a plan view, and has four corners on the upper surface 17a.

The main body 10 has a traveling wheel 21, a connecting portion 30, and a direction conversion mechanism 34 at four corner portions, respectively. In this configuration, the main body 10 can be stably suspended by the traveling wheels 21 arranged at the four corners of the main body 10, and the main body 10 can be moved stably.

The transfer device 18 is provided below the upper unit 17. The transfer device 18 can rotate around the rotation axis AX1 in the Z direction (vertical direction). The transfer device 18 has: an article holding portion 13 that holds the article M; an elevator driving portion 14 that raises and lowers the article holding portion 13 in a vertical direction; and a lateral extension mechanism 11 that makes the raising/lowering drive portion 14 slide in a horizontal direction Move; and the rotating portion 12, which maintains the lateral extension mechanism 11. The article holding part 13 holds the article M by holding the flange part Ma of the article M, and then hangs the article M and holds it. The article holding portion 13 is, for example, a jig having a claw portion 13a that can move in a horizontal direction, and the article M is held by causing the claw portion 13a to enter below the flange portion Ma of the article M and raising the article holding portion 13. The article holding portion 13 is connected to a hanging member 13b such as a wire or a belt.

The up-and-down driving part 14 is a crane, for example, it lowers the article holding part 13 by winding up the suspension member 13b, and raises the article holding part 13 by winding up the suspension member 13b. The up-and-down driving part 14 is controlled by the control part 50, and the article holding part 13 is lowered or raised at a predetermined speed. In addition, the up-and-down driving unit 14 is controlled by the control unit 50 to maintain the article holding unit 13 at a target height.

The lateral extension mechanism 11 has, for example, a plurality of movable plates arranged to overlap in the Z direction. The movable plate can move relatively along the Y direction. A lift driving part 14 is installed on the movable plate of the lowermost layer. The lateral extension mechanism 11 can move the movable plate by a driving device not shown, so that the elevating drive portion 14 and the article holding portion 13 of the movable plate installed on the lowermost layer are, for example, along the direction of travel relative to the traveling vehicle V The orthogonal horizontal direction extends laterally (makes the sliding movement).

The rotating part 12 is provided between the lateral extension mechanism 11 and the upper unit 17. The rotation part 12 has a rotation member 12a and a rotation drive part 12b. The rotating member 12a is provided so as to be rotatable in the direction around the axis in the vertical direction. The rotating member 12a supports the lateral extension mechanism 11. For the rotation driving part 12b, for example, an electric motor or the like can be used to rotate the rotation member 12a in the direction around the axis of the rotation axis AX1. The rotating part 12 can rotate the rotating member 12a by the driving force from the rotating driving part 12b, so that the lateral extension mechanism 11 (the lifting driving part 14 and the article holding part 13) rotates in the direction around the axis of the rotation axis AX1. By using the transfer device 18, the moving vehicle V can transfer the article M to a predetermined position.

Moreover, as shown in FIG. 2 and FIG. 3, the cover part W may be provided so that the transfer device 18 and the article M held by the transfer device 18 may be enclosed. The cover part W has a cylindrical shape with an open lower end and a shape obtained by cutting out the protruding part of the movable plate of the lateral extension mechanism 11. The upper end of the cover part W is mounted on the rotating member 12a of the rotating part 12, and rotates around the axis of the rotating shaft AX1 as the rotating member 12a rotates.

The traveling part 20 has traveling wheels 21 and auxiliary wheels 22. The traveling wheels 21 are respectively arranged at four corners of the upper surface 17a of the upper unit 17 (main body portion 10). Each of the traveling wheels 21 is attached to the axle provided in the connecting portion 30. The axles are arranged parallel or substantially parallel along the XY plane. Each of the traveling wheels 21 is rotationally driven by the driving force of the traveling driving part 33 described later. Each of the traveling wheels 21 rotates on the rail R on the traveling surfaces R1a, R2a, and R3a of the first rail R1, the second rail R2, and the intersection R3, and the traveling vehicle V is moved. Furthermore, it is not limited to that all the four traveling wheels 21 are rotationally driven by the driving force of the traveling drive portion 33, and a configuration in which a part of the four traveling wheels 21 is rotationally driven may also be used.

The traveling wheels 21 are provided so as to be capable of turning in the θZ direction centered on the turning axis AX2. The traveling wheel 21 is rotated in the θZ direction by the direction change mechanism 34 described later, and as a result, the traveling direction of the traveling vehicle V can be changed. The auxiliary wheels 22 are respectively arranged before and after the traveling wheels 21 in the traveling direction. Each of the auxiliary wheels 22, like the traveling wheels 21, can rotate around an axis parallel to or substantially parallel to the XY plane. The lower end of the auxiliary wheel 22 is set to be higher than the lower end of the traveling wheel 21. Therefore, when the traveling wheel 21 travels on the traveling surfaces R1a, R2a, and R3a, the auxiliary wheel 22 does not come into contact with the traveling surfaces R1a, R2a, R3a. In addition, when the traveling wheel 21 passes through the gap D (see FIG. 1), the auxiliary wheel 22 comes into contact with the traveling surfaces R1a, R2a, R3a, and the traveling wheel 21 is prevented from sinking. In addition, it is not limited to providing two auxiliary wheels 22 on one traveling wheel 21, and for example, one auxiliary wheel 22 may be installed on one traveling wheel 21, or the auxiliary wheel 22 may not be provided.

As shown in FIG. 2, the connecting portion 30 connects the upper unit 17 of the main body portion 10 and the traveling portion 20. The connecting portions 30 are respectively provided at four corner portions of the upper surface 17a of the upper unit 17 (main body portion 10). With this connection portion 30, the main body portion 10 is in a state where the self-traveling portion 20 is suspended, and is arranged below the grid-shaped rail R. The connecting portion 30 has a supporting member 31 and a connecting member 32. The supporting member 31 rotatably supports the rotating shaft of the traveling wheel 21 and the rotating shaft of the auxiliary wheel 22. The relative position of the traveling wheel 21 and the auxiliary wheel 22 is maintained by the supporting member 31. The support member 31 is formed in a plate shape, for example, and is formed in a thickness that can pass through the gap D (refer to FIG. 1).

The connecting member 32 extends downward from the supporting member 31 and is connected to the upper surface 17 a of the upper unit 17 to hold the upper unit 17. The connecting member 32 is provided with a transmission mechanism which transmits the driving force of the traveling drive part 33 mentioned later to the traveling wheel 21 inside. The transmission mechanism can be a structure using a chain or a belt, or it can be a structure using a gear train. The connecting member 32 is provided so as to be able to pivot in the θZ direction with the pivot axis AX2 as the center. With the connecting member 32 turning around the pivot axis AX2, the traveling wheel 21 can be pivoted in the θZ direction around the pivot axis AX2 via the support member 31.

The connection part 30 (refer to FIG. 2) is provided with the traveling drive part 33 and the direction conversion mechanism 34. The traveling driving part 33 is installed on the connecting member 32. The traveling driving unit 33 is a driving source for driving the traveling wheels 21, and for example, an electric motor or the like can be used. The four traveling wheels 21 are driving wheels driven by the traveling driving unit 33, respectively. The four moving wheels 21 are controlled by the control unit 50 so as to have the same or substantially the same rotation speed. Furthermore, when any one of the four traveling wheels 21 is not used as a driving wheel, the connecting member 32 is not provided with the traveling driving portion 33.

The direction changing mechanism 34 causes the connecting member 32 of the connecting portion 30 to revolve around the revolving axis AX2, thereby causing the traveling wheels 21 to revolve in the θZ direction around the revolving axis AX2. By turning the traveling wheel 21 in the θZ direction, the traveling direction of the traveling vehicle V can be switched from the first state in the first direction DR1 to the second state in the second direction DR2, or the traveling vehicle can automatically move. The second state where the direction is set as the second direction DR2 is switched to the first state where the traveling direction is set as the first direction DR1.

The direction switching mechanism 34 has a drive source 35, a pinion gear 36, and a rack gear 37. The driving source 35 is installed on the side of the traveling driving part 33 away from the rotation axis AX2. For the drive source 35, for example, an electric motor or the like can be used. The pinion gear 36 is mounted on the lower surface side of the driving source 35, and is driven to rotate in the θZ direction by the driving force generated by the driving source 35. The pinion gear 36 has a circular shape in a plan view, and has a plurality of teeth along the circumferential direction of the outer periphery. The rack 37 is fixed to the upper surface 17a of the upper unit 17. The racks 37 are respectively provided at four corners of the upper surface 17a of the upper unit 17, and are provided in an arc shape (fan shape) centered on the pivot axis AX2 of the traveling wheel 21. The rack 37 has a plurality of teeth meshing with the teeth of the pinion gear 36 along the circumferential direction of the outer periphery.

The pinion 36 and the rack 37 are arranged in a state in which their teeth mesh with each other. As the pinion gear 36 rotates in the θZ direction, the pinion gear 36 moves in the circumferential direction centered on the rotation axis AX2 so as to follow the outer circumference of the rack 37. By the movement of the pinion gear 36, the connecting member 32 rotates, and the traveling drive portion 33 and the direction conversion mechanism 34 rotate together with the pinion gear 36 in the circumferential direction centered on the rotation axis AX2.

By the rotation of the direction conversion mechanism 34, each of the traveling wheels 21 and the auxiliary wheels 22 arranged at the four corners of the upper surface 17a rotates within a range of 90 degrees in the θZ direction with the rotation axis AX2 as the center. The driving of the direction switching mechanism 34 is controlled by the control unit 50. The control unit 50 may perform the instruction by performing the turning motion of the four moving wheels 21 at the same time point, or may perform the instruction by performing the instruction at different time points. By rotating the traveling wheel 21 and the auxiliary wheel 22, the traveling wheel 21 changes from a state in contact with one of the first rail R1 and the second rail R2 to a state in contact with the other. In other words, the state where the direction of the rotation axis of the self-propelling wheel 21 is set to one of the first direction DR1 and the second direction DR2 is changed to the state set to the other. Therefore, it is possible to switch between the first state where the traveling direction of the traveling vehicle V is set to the first direction DR1 (X direction) and the second state where the traveling direction is set to the second direction DR2 (Y direction).

The traveling vehicle V is provided with a position detection unit 38 (refer to FIG. 4) that detects position information. The position detecting unit 38 detects the current position of the moving vehicle V by detecting a position mark (not shown) indicating position information. The position detection unit 38 detects the position mark by non-contact. The position mark is set for each grid cell C of the grid-shaped track R, respectively.

The traveling vehicle V is provided with a charging electrode 39. The traveling vehicle V connects the charging electrode 39 to the charging terminal 40 (refer to FIG. 1) provided in the traveling vehicle system SYS to charge the battery (not shown) of the traveling vehicle V. The charging terminal 40 is arranged in a predetermined grid cell C. The charging terminal 40 is connected to a power source (not shown), and supplies electric power to the battery of the traveling vehicle V. The charging terminal 40 is supported by the frame 41 and moves in the up and down direction. The frame 41 is fixed to one or both of the first rail R1 and the second rail R2. The charging terminal 40 moves in the vertical direction to move to a retreat position that does not interfere with the movement space of the traveling wheel 21 described later, and a charging position connected to the charging electrode 39 of the traveling vehicle V.

The operation of charging is explained. When the traveling vehicle V is being charged, it sends the occupation request of the grid cell C provided with the charging terminal 40 to the lockout controller BC. After obtaining the permission of the occupation request, the moving vehicle V stops at the grid unit C where the charging terminal 40 is arranged. If the moving vehicle V is parked, the control unit (not shown) of the charging terminal 40 receives the information indicating that the moving vehicle V has stopped from the upper controller HC, and moves the charging terminal 40 from the retracted position to the charging position. With this action, the charging terminal 40 is connected to the charging electrode 39 of the traveling vehicle V, and the traveling vehicle V is charged. After the charging is completed, the control unit of the charging terminal 40 receives the information indicating that the charging is completed from the traveling vehicle V, and moves the charging terminal 40 from the charging position to the retracted position. Furthermore, the charging configuration of the mobile vehicle V is not limited to the above-mentioned configuration. For example, it may be a structure in which the mobile vehicle V is charged by non-contact power supply, or it may be a structure in which the frame 41 is suspended from the ceiling. In addition, the control unit of the charging terminal 40 can be configured to obtain a signal indicating that the self-propelled vehicle V has reached the grid unit C by wireless, or can be based on the detection of a sensor arranged in the grid unit C As a result, the structure that the moving vehicle V has reached the grid cell C is obtained.

The control unit 50 comprehensively controls the traveling vehicle V. The control unit 50 includes a storage unit 51 that stores (stores) various data, a communication unit 52, a migration control unit 53, a transfer control unit 54, a charging control unit 55, an occupation request unit 56, a cancellation request unit 57, and status information processing部58. The control unit 50 is a computer. Although this embodiment shows an example in which the control unit 50 is provided on the main body 10 (refer to FIG. 3 ), the control unit 50 may also be provided on the outside of the main body 10.

The communication unit 52 communicates with an external device. The communication unit 52 is connected to a communication system (not shown) by wireless. The communication unit 52 communicates with each of the upper controller HC and the lockout controller BC via the communication system.

The traveling control unit 53 controls the traveling of the traveling vehicle V. The travel control unit 53 controls the travel by controlling the travel drive unit 33, the direction switching mechanism 34, and the like. The traveling control unit 53 controls, for example, the traveling speed, the operation related to stopping, and the operation related to direction change. The traveling control unit 53 controls the traveling of the traveling vehicle V in accordance with the transportation command CM1 described later.

In addition, the movement control unit 53 controls the movement in such a way that the moving vehicle V moves in accordance with the occupation permission for the blockade section B given from the blockade controller BC. The occupation permission received from the lockout controller BC is stored in the storage unit 51 as the occupation permission information T1. Occupation permission information T1 includes information indicating the blockade section B for which permission to occupy has been granted. For example, when the occupation of the blocked sections B43 to B49 is permitted, the occupation permission information T1 is expressed as the blocked sections B43 to B49: Permitted. The occupation permission information T1 is updated to the latest information based on the response information T6 described later. The moving control unit 53 controls the moving of the moving vehicle V based on the occupation permission information T1. The movement control unit 53 controls the movement of the moving vehicle V so as to enter the blocked section B for which the occupation permission has been granted and not enter the blocked section B for which the occupation permission is not granted. When there is a blockade section B for which no occupation permission is granted, the migration control unit 53 controls the traveling of the traveling vehicle V by waiting in front of the blockade section B for which the occupation permission is not granted without entering the blockade section B.

The transfer control unit 54 controls the transfer operation of the traveling vehicle V in accordance with the transfer command CM1. The transfer control unit 54 controls the transfer operation of the traveling vehicle V by controlling the transfer device 18 and the like. The transfer control unit 54 controls the operation of grabbing the goods to hold the article M arranged in a predetermined place, and the operation of unloading the article M that is held to the predetermined place.

The charging control unit 55 controls operations related to charging. The charging control unit 55 causes the charging operation to start when the storage capacity of the battery or the like becomes less than a predetermined value. The charging control unit 55 controls the traveling vehicle V so as to move to the grid cell C where the charging terminal 40 is arranged to be charged. The charging control unit 55 requests the lockout controller BC via the occupancy requesting unit 56 to request the occupancy of the lockout section B necessary to perform charging in order to move to the grid cell C where the charging terminal 40 is arranged.

The status information processing unit 58 periodically generates and updates status information (not shown). The status information is stored in the storage unit 51. The status information processing unit 58 sends the status information to the upper controller HC and the lockout controller BC via the communication unit 52. The status information is, for example, information about the current position of the moving vehicle V, information indicating the current status of the moving vehicle V such as normal or abnormal, or the execution status of the moving vehicle V (executing, executing, etc.) related to various commands such as the transport command CM1. , Execution failure) information.

The occupation requesting unit 56 requests permission to occupy a plurality of blockade sections B that it should occupy. The occupation request part 56 will be described later.

The cancellation requesting unit 57 requests the lockout controller BC to cancel the occupation of the blockade section B for which the occupation permission has been granted. The cancellation request part 57 will be described later.

Next, the control of the moving vehicle V performed by the upper controller HC and the lock controller BC will be described. Fig. 5 is a sequence diagram showing an example of the operation of the moving vehicle system SYS. FIG. 6 is a diagram showing an example of control of the transfer of the transfer vehicle V performed by the transfer vehicle system SYS. Furthermore, the grid-shaped track R shown in FIG. 6 and the like represents a part of the entire grid-shaped track R. In addition, in the drawings of FIG. 6 and other figures, the grid cell C and the closed interval B in the part shown by the numbers "1-60" are respectively set as the grid cells C1 to C60 and the closed interval B1 to B60.

The upper controller HC controls the transportation (traveling) of the traveling vehicle V by allocating the transportation command CM1 (step S1 in FIG. 5). The host controller HC selects the transportable vehicle V according to the system information, and assigns a transport command CM1 to the selected transport vehicle V. The transport command CM1 is, for example, an instruction to transfer the goods M at a predetermined position relative to the moving vehicle V (relative to the moving vehicle V to make it execute the goods grabbing instruction of the goods M arranged at the predetermined position, And relative to the moving vehicle V, it executes the unloading instruction of unloading the held article M toward the predetermined position). The transfer command CM1 includes information about the transfer position Pt indicating the position where the moving vehicle V is to transfer the article M. The transfer position Pt is the position of each traveling vehicle V, the position of various parts related to the traveling vehicle system SYS (such as the processing device, the storage device, the loading port, the placing portion of the article M in the buffer zone), for example, it is represented by the coordinate value . The system information is the status information of each moving vehicle V, the map information indicating the location of the various parts (such as processing device, storage device, buffer) related to the moving vehicle system SYS, and the location information of the item M. The upper controller HC updates the system information by communicating with each of the moving vehicle V (V1~Vn) and the lockout controller BC.

For example, as shown in FIG. 6, the upper controller HC serves as the transport command CM1, which will cause the traveling vehicle V to move along the traveling path shown by the two-dot chain line from the grid cells C42 to C49, and the article M is transferred to The instruction set at the predetermined position below the grid unit C49 is sent to the moving vehicle V.

The transfer command CM1 is the following command: With respect to the moving vehicle V, it is executed to move to a predetermined stop position just before the transfer operation of the article M to the transfer destination, and thereafter, it is executed. A transfer operation in which the moving vehicle V moves from the stop position to the transfer execution position and the article M is transferred to the predetermined position. The above-mentioned stop position is defined as the grid cell C adjacent to the grid cell C that performs the transfer operation. For example, in the case of the transport command CM1 shown in FIG. 6 for the traveling vehicle V, the grid cell C48 adjacent to the grid cell C49 as the transfer destination is specified as the stop position, and the traveling vehicle V executes from the grid cell C42 Move to the moving action of C48 and stop, and then execute the moving to the predetermined position where the transfer from the grid cell C48 to the grid cell C49 is executed and perform the transfer action. Furthermore, the above-mentioned predetermined stop position can also be set in the blockade zone B for performing the transfer operation. In this case, in the example of the transport command CM1 shown in FIG. 6, the grid unit C49 that performs the transfer operation is specified as the stop position of the moving vehicle V, and the movement from the grid unit C42 to C49 and stop is executed. Action, and then execute the transfer action of moving to the predetermined position in the grid unit C49 where the transfer is performed and performing the transfer. In the case where the above-mentioned predetermined stopping position is a blockade zone B for performing the transfer action or a blockade zone adjacent to the blockade zone B for performing the transfer action, since the moving vehicle V can be moved to the execution position of the transfer action or The position is close to the execution position of the transfer operation, so the blockage area B to be occupied for the transfer operation can be shortened.

The traveling vehicle V stores the command from the upper controller HC including the received transport command CM1 as the command information T3 in the storage unit 51. When the moving vehicle V receives the transfer command CM1, it requests the lock controller BC for permission to occupy the plurality of lock zones B that it should occupy as specified by the transfer command CM1. The occupancy request unit 56 generates an occupancy request (occupancy permission required) for the lockout controller BC to request permission to occupy the blockage zone B (step S2 in FIG. 5).

The occupation request unit 56 divides a series of actions that should be performed by one's own moving vehicle V (abbreviated as "self") from the start of the movement to the stop before the predetermined action included in the series of actions. The blockade controller BC requests the occupation permission of the blockade section B that the moving vehicle V should occupy in order to perform the action. In the case of this configuration, it can be reduced compared to a configuration in which exclusive control is performed at the same time as the blockade zone B for moving to the position where the predetermined action is stopped and the blockade zone B for moving after the predetermined action. Blocked zone B that will be temporarily occupied. In addition, in the case of this configuration, since the moving vehicle V side transmits the occupation permission request divided by the above-mentioned compartment, it is possible to decentralize the controller compared to the configuration in which the controller side divides the occupation request by the above-mentioned compartment The load. The above-mentioned predetermined actions are not particularly limited. The above-mentioned predetermined actions are, for example, transfer actions (cargo grabbing actions, unloading actions), direction switching actions, and charging actions. The above-mentioned predetermined action takes time compared to the migration action. In addition, although the grid cell C that is the target of the execution of the predetermined action (transfer, direction change, charging, etc.) is fixed, the grid cell C that executes the migration action can be changed in the migration action, such as selecting another path. In addition, although the starting point and end point of the grid cell C can be designated for the migration motion, the start point and end point cannot be designated for the above-mentioned predetermined motion. Therefore, in the case of the configuration of the above-mentioned occupation requesting section 56, it is necessary for the occupation permission for the blockade section B to be stopped before the execution of the predetermined action of the changeable path, and for the execution position of the action to be fixed and to perform the action. The time blockade area B’s occupancy permission is divided and the occupation permission is required. Therefore, it can be compared to the blockade section B for moving to the position where the predetermined action is stopped and the blocked section B for moving after the predetermined action. The configuration of executing exclusive control in parallel effectively suppresses the obstruction of the movement of the moving vehicle V caused by the occupation of the blockade section B necessary for the series of actions described above.

A specific example of the operation of the occupation request unit 56 will be described. In the case of the transport command CM1 shown in Fig. 6, the interval between the stop just before the execution of the above-mentioned predetermined action (transfer operation) is moved to stop at the above-mentioned predetermined stop position (grid unit C48) action. In the case of the transport command CM1 shown in FIG. 6, the occupation request part 56 generates as two different requests the migration occupation request RQ1 (the first Occupation permission request), and the transfer occupation request RQ2 (second occupation permission request), which is an occupation request for the blockade section B to be occupied in order to perform the transfer operation, are required to the blockade controller BC. At this time, the moving vehicle V sends the moving and occupying request RQ1 to the lockout controller BC, and then sends the moving and occupying request RQ2 to the lockout controller BC. Comparing the two different requirements when the migration and occupation requirement RQ1 (the first occupation permission requirement) and the shift occupation requirement RQ2 (the second occupation permission requirement) are required to lock the controller BC can be compared. In the configuration of performing exclusive control for the blockade zone B for moving to the predetermined stop position and the blockade zone B for performing the transfer operation, the temporarily occupied blockade zone B is shortened. In the case of this configuration, since the moving vehicle V sends the first and second occupation permission requests, the load of the controller can be distributed.

Fig. 7 is a diagram showing an example of the transitional occupation request RQ1. The travel occupation request RQ1 includes the travel vehicle information D1, the request section D2, the request category D3, the action D4, and the time D5. Moving vehicle information D1 is the identification information of moving vehicle V. The requested section D2 is information representing the blocked section B for which permission to occupy is requested. The required section D2, for example, in the case of a plurality of consecutive blocked sections B, is represented by the blocked sections B arranged at both ends of the section, and is represented by the blocked sections B which should be occupied first by the self-moving vehicle V until later. The sequence of the blockade zone B that should be occupied is indicated by the way. In this case, the amount of data can be reduced compared to a configuration in which a plurality of consecutive blockade sections B are represented one at a time. The request category D3 is information indicating the type of request for the blockade B, and is information indicating the occupation request. The action D4 is information indicating the type of action performed in the blockade zone B where the occupation permission is requested, and in the case of the migration occupation request RQ1, it indicates the information of the migration action. Time D5 is the time to complete the generation of the occupation request.

The occupancy request unit 56 generates a piece of information for a plurality of consecutive blocked sections B, and uses one communication to request an occupancy request to the controller. In the case of this configuration, the number of communications between the blockade controller BC and the moving vehicle V can be reduced compared to a configuration in which the occupation request RQA must be sent for each blockade section B individually. Furthermore, the number of the above-mentioned consecutive plurality of blockade sections B is regulated by one or both of the speed of the moving vehicle V and the communication period between the moving vehicle V and the lockout controller BC. In this embodiment, the number of the above-mentioned consecutive plural blockade sections B is the upper limit of the number of blockade sections B that the moving vehicle V can move during one cycle of the communication cycle between the moving vehicle V and the lockout controller BC Set. In other words, the number of the above-mentioned consecutive plural blockade sections B for which the mobile vehicle V requests permission to occupy the lockout controller BC is set as: the mobile vehicle V is within 1 cycle of the communication cycle between the mobile vehicle V and the lockout controller BC The blockade controller BC will not be asked for permission to occupy the blockade zone B in the position that will not move. In the case where the number of consecutive lockout sections B as described above is constituted by one or both of the speed of the moving vehicle V and the communication cycle between the moving vehicle V and the lockout controller BC, it can be suppressed Taking into account the speed of the moving vehicle V or the communication cycle, the occupancy permission of the blockade section B at a position where the moving vehicle V will not move is granted to the moving vehicle V. In the present embodiment, the number of the above-mentioned consecutive plurality of blocked sections B is set as the upper limit of the number of blocked sections B that the moving vehicle V can move when considering the speed of the moving vehicle V or the communication period. The communication cycle is T1 shown in Fig. 20 described later. Furthermore, the occupying request part 56 is not limited to a configuration that generates an occupying request for a plurality of consecutive blocked sections B to be aggregated into one piece of information. For example, in the present embodiment, when there is one blockade area B specified by the transport command CM1, the occupation request unit 56 sends the blockage area B to be occupied as one occupation request RQA to the blockade Controller BC. In addition, for example, the occupying request unit 56 may also be configured to send an occupying request RQA including one lockout section B to be occupied to the lockout controller BC.

For example, the moving and occupying request RQ1 of the transport command CM1 shown in Fig. 6 is displayed as moving vehicle information D1:V; request section D2: B42-B48; request type D3: occupying; action D4: moving (refer to Fig. 7) . Furthermore, the migration occupation request RQ1 is not limited to the above-mentioned example, and may be constituted by information other than the above-mentioned information.

Figure 8 (A) ~ (C) are diagrams showing examples of the transfer occupation requirement RQ2. The transfer occupation request RQ2 is the same as the transfer occupation request RQ1, and includes the transfer vehicle information D1, the request section D2, the request category D3, the action D4, and the time D5. In the case of the transfer occupying request RQ2, the action D4 represents the information of the transfer action.

When the moving vehicle V performs the transfer action, there is a situation in which the body of the moving vehicle V and the lateral extension mechanism 11 will straddle the area of the plurality of grid cells C when viewed from above due to the transfer position of the article M. In this case, it is necessary to occupy a plurality of blockade sections B corresponding to a plurality of grid cells C without interfering with other moving vehicles V. For example, in the example of the transfer operation shown in FIG. 6, there are cases where the blockade B that must be occupied in order to perform the transfer operation is B49, B49 and B50, and B49, B50, B59, And the situation of B60. The blockade area B that must be occupied in order to perform the transfer operation can be obtained by the occupation requesting unit 56 based on the information of the transfer position of the article M in the transfer command CM1. When the blockade area B that must be occupied in order to perform the transfer operation is B49, the transfer occupation request RQ2 for the transfer operation is displayed as the moving vehicle information D1:V; the request interval D2: B49; the request category D3: Occupy; Action D4: Transfer (refer to Figure 8 (A)). In addition, when the blocked sections B that must be occupied in order to perform the transfer operation are B49 and B50, the transfer occupying request RQ2 is displayed as the required sections D2: B49, B50 (refer to FIG. 8(B)). In addition, when the blockage zone B that must be occupied in order to perform the transfer operation is B49, B50, B59, B60, the transfer occupation request RQ2 is displayed as the requested zone D2: B49, B50, B59, B60 (refer to the figure). 8(C)). Furthermore, the transfer occupying request RQ2 is not limited to the above-mentioned example, and may be constituted by information other than the above-mentioned information.

FIG. 9 is a diagram showing an example of control related to the transfer of the traveling vehicle V performed by the traveling vehicle system SYS. 9 shows an example of the following situation: the host controller HC as the transport command CM1, will move along the two-dot chain line from the grid unit C42 to C19 the migration path shown to move the article M to the grid The command for the predetermined position below the cell C19 is sent to the moving vehicle V.

The transport command CM2 shown in FIG. 9 is the following command: relative to the moving vehicle V, it moves from the grid unit C42 to C49, converts the direction of the grid unit C49 to the direction of the grid unit C39, and moves from the grid unit C49 to the direction of the grid unit C39. C29, and move from the grid unit C29 to the predetermined position in the grid unit C19 to perform the transfer to execute the transfer.

In the case of the transport command CM2 shown in FIG. 9, the predetermined action that the moving vehicle V will execute is the direction change action and the transfer action. The segmentation until the stop before the direction change operation is executed is the travel operation and direction change operation from the grid cells C42 to C49. The interval before the transfer operation is executed and stopped is the movement to stop at the above-mentioned predetermined position (C29).

The occupation request unit 56 detects a predetermined operation (direction change operation, transfer operation, and charging operation) related to the transport command CM2, and generates an occupation request based on the detection result. When there are a plurality of predetermined actions described above, the occupying request unit 56 generates a separate occupying request for each action of the predetermined action that will stop before the execution of the action.

In addition, the occupation requesting unit 56 will require the occupation of the blockade area B to be occupied in order to move to the position where the direction change is stopped (the third occupation permission requirement), and for the blockade area that should be occupied for the movement after the direction change. The occupation request of B (the fourth occupation permission request) is sent to the lockout controller BC as two different requests. At this time, the moving vehicle V sends the third occupation permission request to the lockout controller BC, and then sends the fourth occupation permission request to the lockout controller BC. In the moving vehicle V, there will be an occupancy requirement for the blockade area B that should be occupied in order to move to the position where it stops at the direction change (the third occupation permission requirement), and the blockade that should be occupied in order to move after the direction change. When the occupation request of section B (the fourth occupation permission request) is sent as two different requests to the configuration of the lockout controller BC, it can be compared to the lockout section for moving to the position where the direction change is stopped. B and the blockade zone B to be moved after the change of direction are configured to perform exclusive control together to shorten the blockade zone B that is temporarily occupied. In addition, in the case of this configuration, since the moving vehicle V sends the third and fourth occupation permission requests, the load of the controller can be distributed.

In the case of the transport command CM2 shown in FIG. 9, the occupation request unit 56 generates, as a separate request, an occupation request for the blockade section B that should be occupied in order to perform the migration action before the execution of the direction change operation, that is, the migration occupation request RQ3 (3rd Occupation Permission Requirement), Occupation requirement for the blocked area B that should be occupied in order to perform the migration action before the execution of the transfer action, that is, the migration Occupation requirement RQ4 (1st Occupation Permission Requirement, 4th Occupation Permission Requirement) , And the occupancy request for the blockade B that should be occupied in order to perform the transfer action, that is, the transfer occupation request RQ5 (the second occupation permission request), and a request for the blockade controller BC.

Fig. 10 is a diagram showing an example of occupancy requirements. For example, in the case of the transport command CM2 shown in Fig. 9, the moving occupation request RQ3 is displayed as the moving vehicle information D1:V; the required section D2: B42-B49; the required type D3: occupation; action D4: moving, direction change . The moving occupation request RQ4 is displayed as moving vehicle information D1:V; the request interval D2: B39-B29; the request type D3: occupying; action D4: moving. The transfer and occupation request RQ5 is displayed as the moving vehicle information D1:V; the request category D3: occupy; the action D4: move, and the requested section D2 is the occupancy of the blocked section B that must be occupied in order to perform the transfer action as described above Claim.

FIG. 11 is a diagram showing an example of the operation when the traveling vehicle V is charged. Fig. 12 is a diagram showing an example of an occupation requirement related to charging. In the example of FIG. 11, it is assumed that the charging terminal 40 (refer to FIG. 1) is arranged in the grid cell C49, and the following reservation is set: the traveling vehicle V moves from the grid cell C42 to the grid cell C49 and is on the grid cell C49. The cell C49 is charged and moves from the grid cell C49 to C19 after the charging is completed.

The mobile vehicle V may be charged. When the moving vehicle V is being charged, the lockout controller BC requests the permission to occupy the lockout section B necessary for the charging action. In addition, the occupation request part 56 generates as two different requirements the occupation request RQA (the fifth occupation permission request) for the blockade zone B to be occupied in order to move to the position where charging is stopped, and for the occupation request after charging. The occupation request RQA (the sixth occupation permission request) of the blockade area B that should be occupied for the migration is sent to the blockade controller BC. At this time, the moving vehicle V sends the fifth occupation permission request to the lockout controller BC, and then sends the sixth occupation permission request to the lockout controller BC. As a separate requirement, the occupancy requirement RQA (the fifth occupancy permission requirement) of the blockade area B that the moving vehicle V should occupy in order to move to the position where it stops for charging is generated, and for the moving vehicle V to move after charging. When the occupation request RQA (the sixth occupation permission request) of the blockade zone B that should be occupied is sent to the blockade controller BC, it can be compared with the blockade zone B for moving to the position where charging is stopped and for charging The blockade zone B that moves backward is configured to perform exclusive control at the same time, shortening the blockade zone B that is temporarily occupied. In addition, in the case of this configuration, since the moving vehicle V sends the fifth and sixth occupation permission requests, the load of the controller can be distributed.

In the case of the example shown in FIG. 11, the occupation request part 56 generates as two different requests an occupation request for the blockade area B that should be occupied in order to perform the migration action before the execution of the charging action, that is, the migration occupation request RQ6 (The fifth occupation permission requirement), and the occupation requirement RQA for the blockade area B that should be occupied in order to perform the migration action after the charging action, that is, the migration occupation requirement RQ7 (the sixth occupation permission requirement), and the blockade controller BC Make the request. In the case of a charging operation, the above-mentioned predetermined operation becomes a charging operation, and the interval until the stop before the execution of the above-mentioned predetermined operation is a moving operation to the grid cell C that can be charged.

For example, in the case of the example shown in Fig. 11, the traveling occupation request RQ6 is displayed as traveling vehicle information D1:V; request interval D2: B42-B49; request category D3: occupation; action D4: traveling, charging (see figure 12). The moving and occupying request RQ7 is displayed as moving vehicle information D1:V; the required interval D2: B39-B19; the required type D3: occupying; action D4: moving.

As described above, the occupation requesting unit 56 starts from the start of the movement and stops before the execution of the predetermined motion included in the series of motions as a partition, and generates separately for the traveling vehicle V that it should be occupied in order to perform the motion. Occupy permission in block B.

The above-mentioned occupation request RQA respectively generated by the occupation request unit 56 is sent to the lockout controller BC via the communication unit 52 in step S4 of FIG. 5. The occupancy request RQA is sent to the lockout controller BC through periodic communication. Step S4 is executed as a response to the transmission request from the lockout controller BC. The periodic communication will be described later.

The time point when each of the above-mentioned occupation request RQA is sent is after the occupation request RQA, which is a segmented migration occupation request, is sent before the execution of the predetermined action included in the series of actions from the start of the movement of the self-moving vehicle V to the stop. Send the occupation request RQA (transfer and occupation request, turn occupation request, charge occupation request) of the blockade B necessary to perform the predetermined action. In the case of this configuration, since the occupation request RQA related to the migration occupation request and the occupation request RQA related to the execution of the predetermined action are separately transmitted on the side of each traveling vehicle V, it is possible to compare each traveling on the controller side. The above-mentioned processing structure of the vehicle V reduces the burden on the controller.

In addition, after the moving vehicle V completes the operation of the blockade section B for which the occupation permission has been granted, it requests the blockade controller BC to cancel the occupation permission for the blockade section B for which the occupation permission has been granted. The completion of the above actions is, for example, the departure from the blockade B. For example, when the moving vehicle V performs a direction change operation or a charging operation, the completion of the above-mentioned operation is when the moving vehicle V leaves the blockage zone B after the direction change operation or charging operation is completed. The departure from the blockade B can be detected in the moving vehicle V based on the map information T2 and the current location information. The completion of the above-mentioned actions is individually detected for each of the lockout areas B that have completed the action among the plurality of lockout areas B that have been given permission to occupy. The request to release the occupation permission is performed in the following manner: the release request part 57 generates a release request RQB requesting the release of the occupation permission (step S11), and sends the release request RQB to the lockout controller BC (step S13). The cancellation request RQB is the following information: a request is made to the lockout controller BC through one communication for the cancellation of the permission to occupy one or more of the blocked sections B for which the permission to occupy has been granted as one piece of information. When the cancellation requesting unit 57 detects the situation of the blocked zone B in which the action has been completed, it generates a cancellation request RQB requesting the cancellation of the occupation permission for the blocked zone B in which the action has been completed. The cancellation request unit 57 detects the completion of the action in units of one blockade section B at a time, and generates a cancellation request RQB for the blockade section B for which the above-mentioned action has been completed. The cancellation request unit 57 separately generates a cancellation request RQB for the blockade section B for which the action has been completed in each communication cycle. The cancellation request RQB is displayed by replacing the self-occupation permission requirement of the above-mentioned occupation request RQA with the requirement category D3 for the cancellation request.

FIG. 13 is a diagram showing an example of the operation of the shifting vehicle system SYS regarding the release request RQB. FIG. 13 shows a state where the moving vehicle V has been given permission to occupy the blocked sections B43 to B49 and is moving from the blocked section B43 to B45.

In the case of the example shown in FIG. 13, the cancellation requesting unit 57 generates a cancellation request RQB for the cancellation of the occupation permission in the blockade zones B43-B44 for which the operation has been completed in the blockade zones B43-B49 for which the occupation permission has been granted. At this time, the cancellation requesting unit 57 detects the blockade section B43 in which the above-mentioned action has been completed, and generates a cancellation request requesting the cancellation of the occupation permission of the blockade section B43. Next, the cancellation requesting unit 57 detects the blockade section B44 in which the operation has been completed, and generates a request for the blockade controller BC by one communication for the blockade section B43~B44 for the blockade section B43~B44 that requires the cancellation of the occupancy permission. Require RQB. The cancellation request RQB in this situation is displayed as moving vehicle information D1:V; request section D2: B43~B44; request category D3: occupation cancellation request; action D4: moving; time D5: the time when the cancellation request RQB is generated. As described above, when the mobile vehicle V requests the lockout controller BC through one communication as one piece of information for the release of the permission to occupy one or more of the blocked sections B for which the permission to occupy has been granted. , Compared with the structure that must send the release request RQB individually for each blockade section B, the number of communications between the blockade controller BC and the moving vehicle V can be reduced. In addition, when the completion of the action is detected in units of the blocked section B one at a time as described above, and the configuration of the release request RQB for the blocked section B for which the action has been completed is generated, the shift is due to the rapid release of the blocked section B The vehicle V is permitted to occupy, so other moving vehicles V can quickly obtain the permission to occupy the blocked section B.

The cancellation request RQB generated by the cancellation request unit 57 is transmitted to the lockout controller BC by the communication unit 52 in step S13 of FIG. 5 in one communication. The release request RQB is sent to the lockout controller BC as a response to the sending request (step S12) from the lockout controller BC through the periodic communication described later. Furthermore, when there are both the occupying request RQA and the releasing request RQB that should be sent to the lock controller BC, these can also be aggregated into one piece of information and sent through one communication.

Next, the lockout controller BC will be explained. The blockade controller BC determines whether to grant permission to occupy one or more blockade sections B for which permission to occupy the self-moving vehicle V has been requested, and grants permission to occupy one or more blockade sections B that are judged to be permissible Moving vehicle V.

The lock controller BC is provided with a storage unit 61 that stores (stores) various data, a communication unit 62, an occupation request processing unit 63, an occupation request determination unit 64, a cancellation request processing unit 65, a cancellation request determination unit 66, and a response unit 67 ( Refer to Figure 4). Block the controller BC series computer. The storage unit 61 stores (stores) request management information T4, occupation management information T5, and the like, for example.

The communication unit 62 communicates with external devices. The communication unit 62 is connected to the communication system by wireless. The communication unit 62 communicates with a plurality of traveling vehicles V and a higher-level controller HC via a communication system.

The occupation request processing unit 63 performs processing regarding the occupation request RQA. The occupation request processing unit 63 records (adds to) the request management information T4 every time the self-moving vehicle V receives the occupation request RQA. The occupation request processing unit 63 records (adds to) the request management information T4 every time the occupation request RQA is determined.

In addition, the cancellation request processing unit 65 performs processing regarding the cancellation request RQB. The cancellation request processing unit 65 records (adds to) the request management information T4 every time the cancellation request RQB is received. The cancellation request processing unit 65 records (adds to) the request management information T4 every time the cancellation request RQB is judged.

FIG. 14 is a diagram showing an example of request management information T4. Request management information T4 is to manage the information that requires RQA and lifted RQB. The request management information T4 is a table data obtained by associating the received occupation request RQA or cancellation request RQB, and information related to the determination (response) of the occupation request RQA or cancellation request RQB. The request management information T4 includes, for example, moving vehicle information D1, request section D2, request type D3, action D4, time D5, section D6, response type D7, action D8, and time D9. The moving vehicle information D1, the request section D2, the request category D3, the action D4, and the time D5 are information about the above-mentioned occupation request RQA or cancellation request RQB, respectively.

The section D6, the response type D7, the action D8, and the time D9 are information about the determination content (response content) of the request for occupation RQA or the request for cancellation RQB, respectively. For example, the section D6, the response type D7, and the action D8 are information indicating the result of being granted or not permitted by the lockout controller BC for the request section D2, the request category D3, and the action D4, respectively. The time D9 is information indicating the time when the lock controller BC is given permission to occupy or cancel permission. Furthermore, the request management information T4 is not limited to the above-mentioned example, and may be composed of information other than the above-mentioned information, for example.

The lockout controller BC executes the exclusive control of the occupation requirement RQA according to a predetermined rule (exclusive control rule) set in advance. Hereinafter, an example of the exclusive control rule will be explained. Furthermore, the following exclusive control rules are just an example, and other configurations are also possible.

As an exclusive control rule, the lockout controller BC executes the exclusive control of the travel occupation request as the segmentation before the execution of the predetermined action included in the series of actions from the start of the self-moving vehicle V to a series of actions, and then executes the Regarding the exclusive control of the occupancy permission (transfer and occupation permission, shift occupancy permission, and charge occupancy permission) of the blocked section B necessary to perform a predetermined action.

As an exclusive control rule, the blocking controller BC should perform a series of actions on the moving vehicle V, and move to a stop before performing the transfer action for the transfer destination of the article M relative to the moving vehicle V. After the exclusive control of the blockade B (request for moving occupation, the first occupation permission request) that should be occupied at the predetermined stop position, execute the blockade B (replacement) that should be occupied for the transfer operation performed by the moving vehicle V. The exclusive control of the occupation requirement and the second occupation permission requirement). In the case of this configuration, it is possible to perform exclusive control of the blockade section B to be moved to the stop at the predetermined stop position and the blockade section B required to perform the transfer operation. The shortening will be temporary. Blocked area B where the land is occupied.

As an exclusive control rule, the blockade controller BC should perform a series of actions on the moving vehicle V. In order to move to the position where the moving vehicle V should stop and perform the direction change, the blockade area B (the moving occupation request) should be occupied. , After the exclusive control of the third occupation permission request), the exclusive control of the blockade section B (the migration occupation request, the fourth occupation permission request) that the moving vehicle V should occupy in order to move after the direction change is executed. In the case of this configuration, it can be shortened compared to a configuration in which exclusive control is performed at the same time for the blockade section B to stop at the position where the direction change is to be performed and the blockade section B to move after the direction change. Blocked area B temporarily occupied.

As an exclusive control rule, the blockade controller BC performs a series of actions when the moving vehicle V should perform a blockade section B (the moving occupation request, the first blockage area B) that the moving vehicle V should occupy in order to move to the position where it stops for charging. After the exclusive control of 5 Occupation Permit Requirements), the exclusive control of the blockade B (travel occupation requirement, fifth occupation permission requirement) that should be occupied by the moving vehicle V to move after being charged is executed. In the case of this configuration, compared to the configuration of performing exclusive control for the blockade zone B for moving to the position where charging is to be stopped and the blockade zone B for moving after charging, the shortening will be temporary. Blocked area B where the land is occupied.

The exclusive control of the occupancy request RQA by the lockout controller BC is performed by judging the permission occupancy request RQA.

An example of the RQA determination regarding the occupation requirement for migration will be explained. Fig. 15 is a flowchart showing an example of the determination of the occupation requirement for migration.

The occupation request determination unit 64 determines whether the occupation request RQA is permitted (step S6 in FIG. 5). The occupation request determination unit 64 determines the occupation request RQA based on a predetermined rule (judgment rule) set in advance. Hereinafter, an example of the judgment rule will be described. Furthermore, the following determination rules are just an example, and other configurations are also possible.

The judging rule is the following rule: when the blockade area B of the judgment subject has been granted permission to occupy other moving vehicles V, it is judged that no permission is granted for the blockade zone B of the judgment subject, and the blockade zone B of the judgment subject In the case where no permission to occupy other moving vehicles V has been granted, permission to occupy the blocked section B of the judgment target is granted.

The determination rule is the following rule: when a request for occupation permission is received from a plurality of moving vehicles V with respect to the blocked zone B, it is determined that the moving vehicle V that has made the request for the occupation permission is granted to the blocked zone B Occupy permission, and it is judged that it will not grant permission to occupy block B for the moving vehicle V that only requests permission to occupy it later. In this configuration, it is possible to avoid the situation where the movement of the moving vehicle V that has requested the occupation permission first is obstructed by the moving vehicle V that has made the request for the occupation permission later.

In addition, the judgment rule is set according to the above-mentioned exclusive control rule. Such a determination rule, for example, after permitting the migration occupation request, permits the occupation permit (transfer occupation permit, diversion occupation permit, and charging occupation permit) of the blockade area B in order to perform a predetermined action, and the migration occupation request is The self-moving vehicle V starts to move and stops before the execution of the predetermined action included in the series of actions.

In addition, the occupation request determination unit 64 determines the side to be occupied first (the side that should be occupied first (the one approaching the movement start point) from among the plurality of blocked sections B for which the moving vehicle V requests permission to occupy due to the occupation request RQA, based on the moving direction of the moving vehicle V. Side) one or more blockade sections B that can be continuously permitted (steps S6A to 6C in FIG. 15). In the case of this configuration, since it is determined that one or a plurality of blockades B can be permitted, it can be compared to if the blockade controller BC cannot permit all the blocks of the plurality of blockades B, no occupation is granted. The composition of the permission quickly grants the moving vehicle V an appropriate permission to occupy the blocked section B.

In step S6A of FIG. 15, the occupation request determination unit 64 determines whether to permit the occupation request RQA of the blockade zone B that the moving vehicle V first occupies according to the above determination rule. The occupancy request determination unit 64 determines whether to grant permission for the occupancy request RQA of the blockade area B of the subject based on the request management information T4 and the occupancy management information T5. For example, when there is an occupation request RQA from the moving vehicle V for the blocked section B42 to B48 as shown in the example shown in FIG. 7, the occupancy request determination unit 64 will request the occupation RQA for the blocked section B42 that should be occupied first. , To determine whether to grant permission.

FIG. 16 is a diagram showing an example of the occupation management information T5. Occupation management information T5 is information that manages the presence or absence of permission for occupation in the blocked zone B. Occupation management information T5 is, for example, table data obtained by associating all the blocked sections B in the mobile system SYS with the state of the occupancy permission of each blocked section B.

The occupancy management information T5 includes, for example, the blockade zone D11, the moving vehicle information D12, the action D13, the time D14, and the controller setting D15 and the associated table data. The blockade zone D11 is the identification information of the blockade zone B. The moving vehicle information D12 and the action D13 are respectively the identification information of the moving vehicle V that is given permission to occupy in the target blockade B and the information indicating the permitted action. The time D14 is information indicating the time when the lockout controller BC grants permission to occupy. The moving vehicle information D12, the action D13, and the time D14 are displayed as empty data (NULL), for example, when there is no moving vehicle V that is granted the permission to occupy in the target blockage zone B. The controller setting D15 shows the information about the setting of the lock controller BC. For example, when the controller setting D15 is set to a situation where the lock zone B cannot be used, it displays information indicating that the lock zone B is set to be unavailable. The occupancy request determination unit 64 determines that the occupancy permission is not granted when the occupancy permission is required for the blocked section B that is set as unusable in the controller setting D15. Furthermore, the occupancy management information T5 is not limited to the above-mentioned example, and may be composed of information other than the above-mentioned information, for example.

When the occupation request determination unit 64 determines that the occupation permission is not granted (step S6A: NO), it is determined that the occupation permission for the blockade zone B that should be occupied after the blockade zone B that has been determined not to be granted the occupation permission is not granted, and End judgment. Occupation permission in the blockade area B for which no occupation permission has been granted will be implemented again later.

When the occupation request determination unit 64 determines that the occupation permission is granted (step S6A: YES), the occupation request determination unit 64 determines whether there is an occupation request RQA that should be determined (step S6B).

When the occupation request determination unit 64 determines that there is no occupation request RQA that should be determined (step S6B: NO), the determination ends. When the occupation request determination unit 64 determines that there is a situation in which the occupation request RQA that should be determined exists (step S6B: YES), in step S6C, it is determined whether the blockade section B that has been granted occupation permission is to be occupied next The blockade section B grants permission to occupy and makes a judgment.

The occupancy request determination unit 64 performs the same determination as in step S6A in step S6C. When the occupation request determination unit 64 determines that the occupation permission is to be granted (step S6C: YES), it returns to step S6B and repeats the above-mentioned processing. When the occupation request determination unit 64 determines that the occupation permission is not granted (step S6C: NO), it is determined that the occupation permission for the blockade zone B that should be occupied after the blockade zone B that has been determined not to be granted the occupation permission is not granted , And end the judgment. Occupation permission in the blockade area B for which no occupation permission has been granted will be implemented again later.

According to the above steps S6A~S6C, according to the direction of travel of the moving vehicle V, among the plurality of blocked sections B for which permission to occupy is required, one or more blocked sections B can be permitted consecutively from the side that should be occupied first Will be judged. In addition, the occupation request determination unit 64 may not have a configuration that determines, based on the traveling direction of the moving vehicle V, one or a plurality of blocked sections B that can be continuously permitted from the side that should be occupied first. For example, the occupancy request determination unit 64 may also determine a plurality of blocked sections B included in the occupancy request RQA one at a time.

FIG. 17 and FIG. 18 are diagrams showing an example of the determination performed by the occupancy request determination unit 64. FIG. 17 shows an example of a state in which the moving vehicle V requests the occupation permission of the blocked sections B43 to B48 and there is no other moving vehicle V occupation permission in the blocked sections B43 to B48. In the case of the example shown in FIG. 17, in the occupancy management information T5, the lockout sections B43 to B48 become NULL (empty data) indicating that no permission for occupancy is granted. In this case, in steps S6A to S6C, the occupancy request determination unit 64 determines, based on the occupancy management information T5, that the traveling vehicle V is granted occupancy permission for the blocked sections B43 to B49.

FIG. 18 shows an example of a state in which the moving vehicle V requests the permission to occupy the blocked sections B43 to B49 and the moving vehicle V2 is granted the permission to occupy the blocked sections B46 to B49. In the case of the example shown in FIG. 18, in the occupation management information T5, data indicating that the moving vehicle V2 has been granted occupation permission for the blocked sections B46 to B49 is recorded. On the other hand, the blocked sections B43 to B45 become NULL (empty data) indicating that no occupation permission has been granted. In this case, in steps S6A to S6C, the occupancy request determination unit 64 determines that the moving vehicle V is granted occupancy permission for the blocked sections B43 to B45, and determines that the occupancy permission for the blocked sections B46 to B49 is not granted.

If the determination of step S6 in FIG. 5 ends, it is convenient for the lock controller BC in step S7 to update the occupation management information T5 (moving vehicle information D12, action D13, time D14). The occupation request processing unit 63 updates the occupation management information T5 for the blockade section B for which the occupation permission has been granted based on the determination result of step S6.

Furthermore, if the determination of step S6 in FIG. 5 ends, in step S8, the response unit 67 will send the occupation request RQA as the response information T6 to the moving vehicle V that has sent the occupation request RQA or the cancellation request RQB.

FIG. 19 is a diagram showing an example of response information T6. The response information T6 includes, for example, moving vehicle information D1, section D6, response type D7, action D8, and time D9. The moving vehicle information D1, the section D6, the response type D7, the action D8, and the time D9 are the same as the information included in the request management information T4 shown in FIG. 14 described above.

If the response of step S8 in FIG. 5 ends, in step S9, the lockout controller BC will update the request management information T4 based on the result of the above determination. The occupation request processing unit 63 records the determination result of the occupation request RQA (section D6, response type D7, action D8, time D9) determined in step S6 in (added to) the request management information T4 and updates it.

If the traveling vehicle V receives the response information T6, the control unit 50 updates the occupation permission information T1 stored in the storage unit 51 based on the response information T6. The moving vehicle V can enter the blockade B for which permission to occupy has been granted. In step S11, the moving vehicle V enters the blockade section B for which the occupation permission has been granted, and executes the action based on the transport command CM1.

After the moving vehicle V completes the action in the blockade zone B for which the occupation permission has been granted, it generates a release request RQB that requests the cancellation of the occupation permission for the blockade zone B for which the occupation permission has been granted (step S11 in FIG. 5). The generation of the RQB request for the removal of the moving vehicle V is as described above.

The moving vehicle V transmits the release request RQB as a response to the transmission request from the lock controller BC (step S12 in FIG. 5) to the lock controller BC (step S13) through the periodic communication described later.

If the cancellation request judging unit 66 receives the cancellation request RQB from the moving vehicle V, it judges whether or not to cancel the occupation permission of the blockade zone B based on the predetermined reference set in advance and based on the cancellation request RQB (Figure 5)的步骤S14). The cancellation request judging unit 66 judges one or a plurality of blockade sections B that can be cancelled from the side that should be cancelled based on the moving direction of the moving vehicle V.

The cancellation request judging unit 66, for example, based on the state information of the moving vehicle V, determines that the moving vehicle V has completed the operation in the blocked section B for which the permission to occupy by the moving vehicle V has been granted, and then judges that the blocking section is cancelled. B's occupation permit is granted, and the cancellation permit is given. The cancellation request judging unit 66 judges that the permission to occupy the blocked section B is not cancelled when the above-mentioned confirmation cannot be performed.

The cancellation request processing unit 65 updates the occupation management information T5 for the blockade section B to which cancellation permission has been granted based on the determination result of step S14 (step S15). The cancellation request processing unit 65 updates the occupation management information T5 of the blockade section B for which the occupation permission has been cancelled to NULL (empty data) indicating that the occupation permission has not been granted.

The cancellation request processing unit 65 records the determination result (section D6, response type D7, action D8, time D9) of the cancellation request RQB determined in step S14 in (addition to) the request management information T4 and updates it (step S16) .

If the determination of step S14 in FIG. 5 ends, in step S17, the response unit 67 sends the determination result of the release request RQB as response information T6 to the moving vehicle V that has sent the release request RQB.

The traveling vehicle system SYS of this embodiment controls the traveling vehicle V by repeatedly performing the operations of step S1 to step S17 in FIG. 5 for each traveling vehicle V in the system. Furthermore, the execution order of the above-mentioned steps S1 to S17 is just an example, as long as it is not in the form that the output of the previous processing will be used in the subsequent processing, it can be implemented in any order. In addition, part of the processing of steps S1 to S17 described above may also be performed in parallel.

Fig. 20 is a diagram showing an example of the operation of the lockout controller BC. The lockout controller BC uses periodic communication to perform the above-mentioned processing (steps S3, S5~S9, S14~S17). Periodic communication is, for example, polling communication.

In step S21, the lock controller BC sends a request to the first moving vehicle V1 to send a request to the lock controller BC to send the occupying request RQA and the releasing request RQB.

In step S22, if the first moving vehicle V1 receives the transmission request, it will immediately respond to the transmission request, and send the occupation request RQA and the release request RQB to the lockout controller BC. Step S22 is the same as steps S4 and S12 in FIG. 5.

If the lock controller BC receives the occupation request RQA and the release request RQB from the first moving vehicle V1, in step S21, it sends a request to the next second moving vehicle V2 to the lock controller BC to send the occupy request RQA and release request Sending requirements of RQB.

The traveling vehicle system SYS repeats step S21 and step S22, and sequentially implements the first traveling vehicles V1 to Vn. With this operation, each of the first moving vehicle V1 to the n-th moving vehicle Vn, the occupation request RQA and the release request RQB are sent to the lockout controller BC.

If the lock controller BC receives the occupation request RQA and the release request RQB from each of the first moving vehicle V1 to the nth moving vehicle Vn, in step S23, it will perform steps S5~S7, S14 of FIG. 5 together. ~S17 processing. With this action, processing such as the determination of the occupation request RQA and the cancellation request RQB sent from each of the first moving vehicles V1 to Vn is performed by the lockout controller BC.

In step S24, the lockout controller BC transmits the determination results of the occupation request RQA and the cancellation request RQB to each of the first moving vehicles V1 to Vn as the response information T6. Step S24 is the same as steps S9 and S16 in FIG. 5. The first moving vehicles V1 to Vn that have received the response information T6 are exclusively controlled based on the received response information T6.

The traveling vehicle system SYS treats step S21 to step S24 as one cycle, and periodically repeats step S21 to step S24 as the cycle T, thereby performing exclusive control.

As explained above, the traveling vehicle system SYS of this embodiment has: a plurality of traveling vehicles V; and a lock controller BC, which can communicate with the plurality of traveling vehicles V to control the plurality of traveling vehicles V; The moving area of the vehicle V stipulates that there are a plurality of blockade sections B for exclusive control that does not allow other moving vehicles V to enter when occupied by any one of the plural moving vehicles V; and the above-mentioned moving vehicle V is as follows The method is controlled: in the case of obtaining permission to occupy the blockage zone B from the blockade controller BC, although it can occupy the blockade zone B that has been granted the permission to occupy and perform operations, when the blockade controller BC fails to obtain the permission to occupy the blockade zone B Do not operate in the blockade section B without permission to occupy; wherein, the blockade controller BC performs a series of actions to be performed by the moving vehicle V, from the start of the moving vehicle V to the execution of the predetermined action included in the series of actions Until the stop, it is determined whether or not to grant the traveling vehicle V an occupation permission for the blockade section B that the traveling vehicle V should occupy in order to perform the operation. According to the above configuration, it is possible to prevent the interference of the traveling vehicles V with each other by the exclusive control, while avoiding the interference of the operation of the traveling vehicles V due to the exclusive control as much as possible. In a situation where the moving vehicle V takes a relatively long time to perform the predetermined action, if the blockade area B of the moving vehicle V after the completion of the predetermined action is occupied in advance, it will unnecessarily hinder other moving vehicles V. by. According to the above configuration, in a series of actions that the moving vehicle V should perform, the exclusive control is performed as a segment until it stops before the execution of the predetermined action. This can be compared to all sections that the moving vehicle V should pass through. The structure of exclusive control shortens the blockade zone B that will be temporarily occupied. In other words, it is possible to prevent interference with other moving vehicles V through exclusive control, while avoiding obstacles to the actions of other moving vehicles V as much as possible. In addition, the structure of the traveling vehicle system SYS other than the above is an arbitrary structure, and the structure other than the above is optional.

In addition, the traveling vehicle system SYS of the present embodiment is provided with a grid-shaped rail R, and the grid-shaped rail R has a plurality of first rails R1 extending along the first direction DR1, and a second rail R1 extending along the first direction DR1. A plurality of second rails R2 extending in two directions DR2, and a plurality of grids are formed by a plurality of first rails R1 and a plurality of second rails R2. The track R1 or the second track R2 moves upward, and the lockout interval B is set for each grid cell C that is one square of the grid-shaped track R. In this configuration, each grid cell C of the grid-shaped rail R is an intersection, so no matter which grid cell C the traveling vehicle V stops at, it becomes an obstacle to the passage of other traveling vehicles V. Therefore, in the case of the grid-shaped rail R, compared with the configuration of a traveling vehicle system having a rail other than the grid-shaped rail R, although the traveling of other traveling vehicles V is hindered and the traveling efficiency is reduced, according to the above configuration, Suppress the aforementioned reduction in migration efficiency.

Next, based on the above-mentioned moving vehicle system SYS of this embodiment, the method of controlling the moving vehicle of this embodiment will be explained. In addition, in the description of the method of controlling the traveling vehicle of the present embodiment, the same components as the above-mentioned traveling vehicle system SYS are marked with the same symbols, and the description thereof is appropriately omitted or simplified. In addition, the configuration that can be applied to the items described in this manual can also be appropriately applied to the control method of the moving vehicle. In addition, the method of controlling the moving vehicle of the present embodiment is not limited to the following description.

The mobile vehicle control method of this embodiment is the mobile vehicle control method in the mobile vehicle system SYS. The control method of the moving vehicle includes the following content: the blocking controller BC is used as a series of actions to be performed by the moving vehicle V, from the start of the moving vehicle V to the stop before the predetermined actions included in the series of actions are executed. The division is to determine whether or not to grant the traveling vehicle V an occupation permission for the blockade section B that the traveling vehicle V should occupy in order to perform an action, thereby performing exclusive control.

In the method of controlling a moving vehicle, the above-mentioned exclusive control is executed, for example, by implementing steps S4 to S11 in FIG. 5.

According to the method of controlling the moving vehicle of this embodiment, in a series of actions that the moving vehicle V should perform, the exclusive control is performed as a partition until it stops before the predetermined action is performed. Therefore, the exclusive control can prevent Interference of moving vehicles with each other, while avoiding the situation where the movement of other moving vehicles is hindered by exclusive control as much as possible. Furthermore, for the control method of a moving vehicle, the configuration other than the above is an arbitrary configuration, and the configuration other than the above is optional.

In addition, the mobile vehicle system SYS and control method of this embodiment implements exclusive control to prevent interference between the mobile vehicles V. Therefore, compared with the existing mobile vehicle system, it is not necessary to install, for example, to detect other mobile vehicles. New mechanical mechanisms and physical sensors, led by V sensors, were implemented. Therefore, there is no malfunction of the mechanical mechanism and physical sensor, and there is no need for adjustment and maintenance.

[Second Embodiment] The second embodiment will be described. In this embodiment, the same components as those in the above-mentioned embodiment are designated with the same symbols and their descriptions are appropriately omitted or simplified. In addition, the matters described in the embodiment of this specification can be applied to the configuration of this embodiment, and can also be suitably applied to this embodiment.

Fig. 21 is a diagram showing an example of the traveling vehicle system SYS2 of the second embodiment.

In the moving vehicle system SYS of the first embodiment, the rail R, the blocked section B, and the moving vehicle V may have other configurations. For example, the difference between the mobile system SYS2 of this embodiment and the mobile system SYS of the first embodiment lies in the structure of the grid-shaped rail R, the blockage section B, and the mobile vehicle V, and the other configurations are the same as those of the first embodiment The moving vehicle system SYS is the same.

The track RA of the traveling vehicle system SYS2 is a track formed by connecting a plurality of track-shaped (oblong-shaped) surrounding tracks. The rail RA is suspended and installed from the ceiling of the building. The track RA has a plurality of branching parts and merging parts. The blockade section BA of the moving vehicle system SYS2 is set at the intersection of the branch or confluence of the track RA. The traveling vehicle VA of the traveling vehicle system SYS2 travels along the rail RA, for example, and travels substantially directly under the rail RA.

In the traveling vehicle system SYS2 of the present embodiment, since the traveling vehicle V is to perform a series of actions, the exclusive control is performed as a segment until it stops before performing a predetermined action. Therefore, the exclusive control can be used to perform exclusive control. Prevent the interference of moving vehicles, while avoiding the situation where the movement of other moving vehicles is hindered by exclusive control as much as possible.

In addition, the technical scope of the present invention is not limited to the aspects described in the above-mentioned embodiments and the like. There may be cases where one or more of the requirements described in the above-mentioned embodiments are omitted. In addition, the requirements described in the above-mentioned embodiments and the like can be combined as appropriate. In addition, within the scope permitted by laws and regulations, the disclosures of all documents cited in the above-mentioned embodiments can be used as part of the description of this specification.

Furthermore, the above-mentioned configuration of the lockout controller BC is just an example, and other configurations are also possible. For example, the lockout controller BC may also have a part or all of the above-mentioned upper controller HC.

In the above-mentioned embodiment, although the following example is shown, it is not limited to this configuration: in a series of actions that the traveling vehicle V should perform by itself, a predetermined action included in the sequence of actions from the beginning of the migration to the execution of the moving vehicle V Before stopping, as a partition, the lock controller BC requests permission to occupy the lock zone B that the moving vehicle V should occupy in order to perform the action. For example, it may also be configured as follows: the traveling vehicle V sends the occupation request included in a series of actions to the lockout controller BC, and the lockout controller BC divides it until the traveling vehicle V stops before performing the above-mentioned predetermined action. Grant permission to occupy the blockade section B that should be occupied in order for the moving vehicle V to perform an action. It can also be configured as follows: the upper controller HC generates the occupation request RQA generated by the above-mentioned moving vehicle V and requests the lockout controller BC, and sends the lockout section B that has been permitted to occupy to the moving vehicle V, Use this to perform exclusive control.

In addition, in the above description, although an example in which the same area RE as in FIG. 8 is set in each grid cell C has been shown, it is not limited to this example. For example, it may be a configuration in which different regions RE are set in each grid cell C, or a configuration in which the above-mentioned region RE is not set in a grid cell C that is not to be transferred.

In addition, the above-mentioned determination rule is just an example, and other criteria may also be used. For example, when the occupancy request determination unit 64 receives a request for permission to occupy the blockage zone B from a plurality of moving vehicles V as a determination rule, it may be determined based on the priority among the plurality of moving vehicles V Among the plurality of moving vehicles V, the moving vehicle V with the higher priority is given permission to occupy the blocked section B, and it is determined that the moving vehicle V with the lower priority is not given the permission to occupy. In the case of this configuration, it is possible to avoid the situation where the movement of the moving vehicle V with a higher priority is hindered by the moving vehicle V with a lower priority. The above-mentioned priority is configured to be referred to by the occupancy request determination unit 64. Furthermore, the above-mentioned priority can be pre-set, or it can be configured as follows: by any one of the upper controller HC, the lockout controller BC, and the moving vehicle V, the system operates according to a predetermined standard Set.

Alternatively, when the occupancy request determination unit 64 receives a request for permission to occupy the blocked section B from a plurality of moving vehicles V as a determination rule, it may block the area between the section B and the moving vehicle V according to the object of the occupancy permission. The path distance is judged to be the shortest path distance to the blockage zone B among the plurality of traveling vehicles V, and the permission to occupy the blockade zone B is granted, and the path distance to the blockade zone B is judged to be longer The moving vehicle V is not granted with permission to occupy. In the case of this configuration, it is possible to avoid the situation in which the traveling of the traveling vehicle V with a shorter path distance to the blockade zone B is hindered by the traveling vehicle V with a longer path distance to the blockade zone B.

In addition, the processing of steps S21 to S24 performed by the lockout controller BC is an example, and other methods are also possible. For example, the lockout controller BC may not process the request transmission of the first moving vehicle V1 to the nth moving vehicle Vn in step S22 together through steps S23 and S24, but for each time the first moving vehicle V1 to the nth moving vehicle Vn The request is sent to implement the processing of step S5~S9 or step S14~S17 respectively.

In addition, the processing of steps S3 to S9 or steps S14 to S17 performed by the lock controller BC is an example, and other methods are also possible. For example, the blocking controller BC may not process the request transmission of the first moving vehicle V1 to the nth moving vehicle Vn through the periodic communication described in FIG. 20, etc., but for each time the first moving vehicle V1 to the nth moving vehicle Vn The request is sent to implement the processing of step S5~S9 or step S14~S17 respectively.

Moreover, the control method of the above-mentioned moving vehicle system can also be realized by a computer program. For example, the above-mentioned program contains the following content: in a series of actions that the moving vehicle V should perform, the segment is divided from the beginning of the moving vehicle V to the stop before the predetermined actions included in the series of actions are executed. It is judged whether or not to grant an occupation permission for the blockade section B that the traveling vehicle V should occupy in order to perform an action to the traveling vehicle V, thereby performing exclusive control on the computer. In addition, the program can be recorded on a computer-readable storage medium (such as non-transitory tangible media) and provided by a control device that executes the above-mentioned program.

In addition, there are cases where one or more of the requirements described in the above-mentioned embodiment etc. may be omitted. In addition, the requirements described in the above-mentioned embodiments and the like can be combined as appropriate. In addition, within the scope permitted by laws and ordinances, the disclosures of all documents cited in Japanese Patent Application No. 2019-095829 and the above-mentioned embodiments can be cited as part of the description of this specification.

10: Body part 11: Horizontal extension mechanism 12: Rotating part 12a: Rotating member 12b: Rotation drive part 13: Item holding department 13a: claw 13b: Suspension member 14: Lifting drive 17: Upper unit 17a: upper surface 18: Transfer device 20: Migration Department 21: Moving wheels 22: auxiliary wheels 30: Connection 31: Supporting member 32: connecting member 33: Migration drive unit 34: Direction change mechanism 35: drive source 36: small gear 37: rack 38: Position Detection Department 39: Charging electrode 40: Charging terminal 41: Frame 50: Control Department 51: Storage Department 52: Ministry of Communications 53: Migration Control Department 54: Transfer Control Department 55: Charging control unit 56: Occupy Requirements 57: Releasing the request department 58: State Information Processing Department 61: Storage Department 62: Ministry of Communications 63: Occupy Request Processing Department 64: Occupation Request Judgment Department 65: Releasing the request processing department 66: Cancellation request determination department 67: Response Department AX1: Rotation axis AX2: Swivel axis B, BA, B1~60: Blocked area BC: Lock the controller C, C1~C60: grid unit CM1, CM2: Transport instructions D: gap DR1: 1st direction DR2: 2nd direction H: Suspension member H1: Part 1 H2: Part 2 H3: Part 3 HC: Upper controller M: Item Ma: Flange R: Lattice track, track R1: Track 1 R1a: Transition surface R2: Track 2 R2a: Transition surface R3: Intersection R3a: Transition surface RA: track RQ1: Migration Occupy Requirements RQ2: Transfer and Occupy Requirements RQ3: Migration Occupy Requirements RQ4: Migration occupation requirements RQ5: Transfer and Occupy Requirements RQ6: Migration Occupy Requirements RQ7: Migration Occupy Requirements RQA: Occupy requirements RQB: Lifting requirements S1～S17: steps S21～S24: Steps S6A~6C: steps SYS, SYS2: Moving vehicle system T: period T1: Occupy Permit Information T2: Map information T3: As command information T4: Request management information T5: Occupy management information T6: Response information V, V1~Vn: moving vehicle VA: Moving Vehicle W: Hood X: direction Y: direction Z: direction

Fig. 1 is a perspective view showing an example of the traveling vehicle system of the first embodiment. Fig. 2 is a perspective view showing an example of a moving vehicle. Fig. 3 is a side view showing an example of a moving vehicle. Fig. 4 is a block diagram showing an example of the moving vehicle, the upper controller, and the lockout controller. Fig. 5 is a sequence diagram showing an example of the operation of the moving vehicle system. Fig. 6 is a diagram showing an example of the control of the transfer of the traveling vehicle V by the traveling vehicle system. Fig. 7 is a diagram showing an example of a migration occupation request. 8(A) to (C) are diagrams showing examples of transfer and occupation requirements. Fig. 9 is a diagram showing an example of control of the transfer of the traveling vehicle V by the traveling vehicle system. Fig. 10 is a diagram showing an example of occupancy requirements. Fig. 11 is a diagram showing an example of the operation during charging of a moving vehicle. Fig. 12 is a diagram showing an example of an occupation requirement for charging. Fig. 13 is a diagram showing an example of an operation related to the cancellation request of the moving vehicle system. Fig. 14 is a diagram showing an example of request management information. Fig. 15 is a flowchart showing an example of the determination of the occupation requirement for the migration action. Fig. 16 is a diagram showing an example of occupation management information. Fig. 17 is a diagram showing an example of the judgment performed by the occupancy request judgment unit. Fig. 18 is a diagram showing an example of the judgment performed by the occupancy request judgment unit. Fig. 19 is a diagram showing an example of response information. Fig. 20 is a diagram showing an example of the operation of the lockout controller. Fig. 21 is a diagram showing an example of the traveling vehicle system of the second embodiment.

39: Charging electrode

40: Charging terminal

41: Frame

B: Blocked zone

BC: Lock the controller

C: Grid unit

D: gap

DR1: 1st direction

DR2: 2nd direction

H: Suspension member

H1: Part 1

H2: Part 2

H3: Part 3

HC: Upper controller

R: Lattice track, track

R1: Track 1

R1a: Transition surface

R2: Track 2

R2a: Transition surface

R3: Intersection

R3a: Transition surface

SYS: Moving vehicle system

V: Moving vehicle

X: direction

Y: direction

Z: direction

Claims (10)

A moving vehicle system, comprising: a plurality of moving vehicles; and a controller, which can communicate with the plurality of moving vehicles to control the plurality of moving vehicles; In the migration area of the above-mentioned moving vehicles, it is stipulated that there are a plurality of blockade zones that are under exclusive control that does not allow other moving vehicles to enter when occupied by any one of the above-mentioned moving vehicles; and The above-mentioned moving vehicle is controlled in the following manner: when the above-mentioned controller obtains the permission to occupy the above-mentioned locked-out section, although it can occupy the above-mentioned locked-out section which has been permitted to occupy and perform operations, it cannot be obtained from the above-mentioned controller. In the case of the above-mentioned occupation permit, no action shall be taken in the above-mentioned blockade where the occupation permit is not obtained; among them, The controller determines whether to grant the above-mentioned occupation permission to the moving vehicle. The occupation permission is for a series of actions to be performed by the moving vehicle, and the moving vehicle executes the series of actions from when the moving vehicle starts to move. It is a segmentation before the included predetermined action is stopped. In order to perform the action, the above-mentioned blockade area should be occupied with permission to occupy. Such as the moving vehicle system of claim 1, in which, The above-mentioned controller should perform a series of actions in the above-mentioned moving vehicle, in order to move to stop at a predetermined stop position before the transfer operation of the article relative to the above-mentioned moving vehicle. After the exclusive control of the blocked section, the exclusive control of the blocked section that should be occupied for the transfer operation performed by the moving vehicle is executed. Such as the moving vehicle system of claim 2, in which, The above-mentioned moving vehicle will require the first occupation permission requirement for the above-mentioned blocked section to be occupied in order to move to the predetermined stop position, and the second occupation permission requirement for the above-mentioned blocked section which must be occupied for the above-mentioned transfer operation. , Sent to the above controller as two different requests, The controller executes the exclusive control for the second occupation permission request after executing the exclusive control for the first occupation permission request. Such as the moving vehicle system of claim 2 or 3, in which, The predetermined stop position is the blockade zone where the transfer action is performed, or the blockade zone adjacent to the blockade zone where the transfer action is performed. Such as the mobile vehicle system of any one of claims 1 to 4, in which: In a series of actions that the moving vehicle should perform, the controller executes the exclusive control of the blockade area that the moving vehicle should occupy in order to move to the position where the direction change is stopped, and then execute the control for the moving vehicle. The above-mentioned exclusive control of the above-mentioned blockade that should be occupied in order to move after the above-mentioned direction change. For example, the moving vehicle system of claim 5, wherein the moving vehicle will require the third occupation permission requirement for the blockade section to be occupied in order to move to the position where the above-mentioned direction change is to be performed, and for the purpose of the above-mentioned direction change. The fourth occupation permission request of the above-mentioned blockade area that should be occupied for migration is sent to the above-mentioned controller as two different requests, The controller executes the exclusive control for the fourth occupation permission request after executing the exclusive control for the third occupation permission request. Such as the mobile vehicle system of any one of claims 1 to 6, in which: In a series of actions that the moving vehicle should perform, the controller executes the exclusive control of the blockade section that the moving vehicle should occupy in order to move to the position where it stops for charging, and then executes the control for the moving vehicle. The above-mentioned exclusive control of the above-mentioned blockade area that should be occupied for migration after the above-mentioned charging. For example, the mobile vehicle system of claim 7, wherein the mobile vehicle will be required to move to the fifth occupancy permission requirement of the blockade section that should be occupied by the stop at the position where the above-mentioned charging is performed, and for the purpose of moving after the above-mentioned charging. The sixth occupation permission request of the above-mentioned blockade that should be occupied is sent to the above-mentioned controller as two different requirements, The controller executes the exclusive control for the sixth occupation permission request after executing the exclusive control for the fifth occupation permission request. Such as the mobile vehicle system of any one of claims 1 to 8, wherein it is provided with a grid-shaped rail, and the grid-shaped rail has a plurality of first rails extending along the first direction, and along with the above-mentioned first rails. A plurality of second tracks extending in a second direction with different directions, and a plurality of squares are formed by the plurality of first tracks and the plurality of second tracks, The plurality of traveling vehicles travel on the first rail or the second rail along the grid-shaped rail, The blockage interval is set for each grid unit that is one of the squares in the grid-shaped track. A method for controlling a moving vehicle is a method for controlling moving vehicles in a moving vehicle system, and the moving vehicle system is provided with: a plurality of moving vehicles; and a controller, which can communicate with the plurality of moving vehicles to control the plurality of moving vehicles Taiwan moving vehicle; In the migration area of the above-mentioned moving vehicles, it is stipulated that there are a plurality of blockade zones that are under exclusive control that does not allow other moving vehicles to enter when occupied by any one of the above-mentioned moving vehicles; and The above-mentioned moving vehicle is controlled in the following manner: when the above-mentioned controller obtains the permission to occupy the above-mentioned locked-out section, although it can occupy the above-mentioned locked-out section which has been permitted to occupy and perform operations, it cannot be obtained from the above-mentioned controller. In the case of the above-mentioned occupation permit, no action shall be taken in the above-mentioned blockade where the occupation permit is not obtained; among them, The control method of such a moving vehicle includes the following: The controller determines whether to grant the above-mentioned occupation permission to the moving vehicle. The occupation permission is for a series of actions to be performed by the moving vehicle, and the moving vehicle executes the series of actions from when the moving vehicle starts to move. It is a segmentation before the included predetermined action is stopped. In order to perform the action, the above-mentioned blockade area should be occupied with permission to occupy.

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